SE9500683L - Manipulator - Google Patents

Manipulator

Info

Publication number
SE9500683L
SE9500683L SE9500683A SE9500683A SE9500683L SE 9500683 L SE9500683 L SE 9500683L SE 9500683 A SE9500683 A SE 9500683A SE 9500683 A SE9500683 A SE 9500683A SE 9500683 L SE9500683 L SE 9500683L
Authority
SE
Sweden
Prior art keywords
manipulator
drive means
drive devices
rectifier
drive
Prior art date
Application number
SE9500683A
Other languages
Unknown language ( )
Swedish (sv)
Other versions
SE515130C2 (en
SE9500683D0 (en
Inventor
Ove Kullborg
Einar Myklebust
Original Assignee
Asea Brown Boveri
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=20397347&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=SE9500683(L) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Publication of SE9500683D0 publication Critical patent/SE9500683D0/en
Priority to SE9500683A priority Critical patent/SE515130C2/en
Application filed by Asea Brown Boveri filed Critical Asea Brown Boveri
Priority to KR1019960004216A priority patent/KR100417028B1/en
Priority to EP96102642A priority patent/EP0728559B1/en
Priority to DE69600806T priority patent/DE69600806T2/en
Priority to ES96102642T priority patent/ES2127580T3/en
Priority to JP8036874A priority patent/JPH08229862A/en
Publication of SE9500683L publication Critical patent/SE9500683L/en
Priority to US09/069,192 priority patent/US6408710B1/en
Publication of SE515130C2 publication Critical patent/SE515130C2/en
Priority to JP2005231541A priority patent/JP2005329538A/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008—Balancing devices
    • B25J19/0016—Balancing devices using springs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0054—Cooling means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/046—Revolute coordinate type
    • B25J9/047—Revolute coordinate type the pivoting axis of the first arm being offset to the vertical axis
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20317—Robotic arm including electric motor

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Control Of Multiple Motors (AREA)

Abstract

Power-supply system for a manipulator, for example an industrial robot, which manipulator comprises a plurality of drive means (1) for moving the manipulator in its plurality of degrees of freedom. Each drive means (1c,1d) comprises at least one electric driving motor (2c,2d) and a reduction gear (3c,3d). The driving motors are supplied and controlled via a rectifier (6) and drive devices (7c,7d). According to the invention at least one of said drive devices (7) is arranged on the manipulator adjacent to its associated drive means (1c,1d). Also the rectifier may consist of a plurality of smaller units arranged on the manipulator and each provided for supplying only one or only a group of drive devices. <IMAGE>
SE9500683A 1995-02-24 1995-02-24 Manipulator SE515130C2 (en)

Priority Applications (8)

Application Number Priority Date Filing Date Title
SE9500683A SE515130C2 (en) 1995-02-24 1995-02-24 Manipulator
ES96102642T ES2127580T3 (en) 1995-02-24 1996-02-22 MANIPULATOR.
KR1019960004216A KR100417028B1 (en) 1995-02-24 1996-02-22 Robot equipment
DE69600806T DE69600806T2 (en) 1995-02-24 1996-02-22 Handling device
EP96102642A EP0728559B1 (en) 1995-02-24 1996-02-22 Manipulator
JP8036874A JPH08229862A (en) 1995-02-24 1996-02-23 Robot device
US09/069,192 US6408710B1 (en) 1995-02-24 1998-01-15 Industrial robot having convection cooled frequency converters
JP2005231541A JP2005329538A (en) 1995-02-24 2005-08-10 Robot device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE9500683A SE515130C2 (en) 1995-02-24 1995-02-24 Manipulator

Publications (3)

Publication Number Publication Date
SE9500683D0 SE9500683D0 (en) 1995-02-24
SE9500683L true SE9500683L (en) 1996-08-25
SE515130C2 SE515130C2 (en) 2001-06-11

Family

ID=20397347

Family Applications (1)

Application Number Title Priority Date Filing Date
SE9500683A SE515130C2 (en) 1995-02-24 1995-02-24 Manipulator

Country Status (7)

Country Link
US (1) US6408710B1 (en)
EP (1) EP0728559B1 (en)
JP (2) JPH08229862A (en)
KR (1) KR100417028B1 (en)
DE (1) DE69600806T2 (en)
ES (1) ES2127580T3 (en)
SE (1) SE515130C2 (en)

Families Citing this family (36)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10033224C1 (en) * 2000-07-07 2001-12-20 Kuka Roboter Gmbh Industrial robot e.g. for plastics machine, has waste heat dissipated from electronic drive controls via passive or active cooling devices
GB0020461D0 (en) * 2000-08-18 2000-10-11 Oliver Crispin Consulting Ltd Improvements in and relating to the robotic positioning of a work tool to a sensor
JP3614383B2 (en) * 2001-07-30 2005-01-26 川崎重工業株式会社 robot
AU2002336856A1 (en) 2001-10-31 2003-05-12 Thermo Crs Ltd. Robotic arm provided with a gripping head having a constant orientation
CA2417541A1 (en) 2002-01-25 2003-07-25 Hansjoerg Werner Haas Modular robotic system for sample processing
SE524929C2 (en) 2002-06-07 2004-10-26 Abb Ab A control system with physically separated modules for controlling one or more manipulators
SE0202211L (en) * 2002-07-11 2004-01-12 Abb Ab Device of industrial robot
FR2847958B1 (en) * 2002-12-03 2005-08-05 Commissariat Energie Atomique BALANCING SPRING, FOR ARTICULATED MECHANISM, IN PARTICULAR FOR ROBOT ARMS.
DE10349452A1 (en) * 2003-10-23 2005-05-25 Bosch Rexroth Ag Scara-type robot
WO2005048435A1 (en) 2003-11-13 2005-05-26 Sew-Eurodrive Gmbh & Co. Kg Compact drive
EP1825970A1 (en) * 2006-02-24 2007-08-29 Abb Ab Industrial robot with drive devices mounted on high thermal conductivity structural parts, and method of manufacturing such robot
FR2931451B1 (en) * 2008-05-22 2010-12-17 Fmc Technologies Sa CONTROL DEVICE FOR SYSTEM FOR LOADING AND / OR UNLOADING FLUIDS
DE102008054501A1 (en) * 2008-12-10 2010-06-17 Kuka Roboter Gmbh Industrial robots and method for operating an industrial robot
JP5316352B2 (en) * 2009-10-08 2013-10-16 富士通株式会社 Electromagnetic interference control method, electromagnetic interference control program, and robot
JP5499647B2 (en) * 2009-11-10 2014-05-21 株式会社安川電機 Robot and robot system
CN102059695A (en) * 2009-11-18 2011-05-18 鸿富锦精密工业（深圳）有限公司 Robot arm component, manufacturing method thereof and robot with arm component
CN101850903B (en) * 2010-04-27 2011-12-21 东莞市亚世工业设备有限公司 Two-way expanding, taking and placing device
KR101205364B1 (en) * 2010-05-13 2012-11-28 삼성중공업 주식회사 Industrial manipulators having attachable and detachable 4-bar-linkage-typed mechanical driving module
CN102380877B (en) * 2010-08-30 2014-07-09 鸿富锦精密工业（深圳）有限公司 Robot and arm part thereof
DE102010063223A1 (en) * 2010-12-16 2012-06-21 Robert Bosch Gmbh Device for removing heat from an automated handling device, in particular a handling robot, and use of the device
EP2711142B1 (en) 2012-09-20 2014-09-17 Comau S.p.A. Industrial robot having electronic drive devices distributed on the robot structure
EP2946891B1 (en) 2013-01-17 2019-03-06 Panasonic Intellectual Property Management Co., Ltd. Industrial robot
JP5715198B2 (en) * 2013-07-05 2015-05-07 ファナック株式会社 Robot drive cable processing structure and robot apparatus including the same
CN104339365B (en) 2013-07-26 2017-04-12 株式会社安川电机 Robot and manufacturing method of same
JP5928416B2 (en) * 2013-07-26 2016-06-01 株式会社安川電機 Robot and robot manufacturing method
JP5884785B2 (en) * 2013-07-30 2016-03-15 株式会社安川電機 robot
CN103600345A (en) * 2013-11-26 2014-02-26 苏州晓炎自动化设备有限公司 Vertical multi-joint robot
DE102015202017A1 (en) * 2015-02-05 2016-08-11 Kuka Roboter Gmbh Manipulator system for the coordinated control of at least two manipulators
CN104786236A (en) * 2015-04-30 2015-07-22 北京特种机械研究所 Omnidirectional intelligent mobile platform used as chassis of industrial robot
CN105397809B (en) * 2015-12-22 2017-03-15 安徽修武工业技术有限公司 A kind of power-driven mechanism of multi-degree-of-freemechanical mechanical arm
JP2017127914A (en) * 2016-01-19 2017-07-27 セイコーエプソン株式会社 Robot and robot system
JP7027774B2 (en) * 2017-09-29 2022-03-02 セイコーエプソン株式会社 robot
JP7130932B2 (en) * 2017-09-29 2022-09-06 セイコーエプソン株式会社 robot
JP7027775B2 (en) * 2017-09-29 2022-03-02 セイコーエプソン株式会社 robot
CN109812571B (en) * 2017-11-21 2021-09-10 沈阳新松机器人自动化股份有限公司 Variable-volume lubricating mechanism
CN114871658B (en) * 2022-07-12 2022-09-20 深圳市创特科技有限公司 Automatic change material loading welding set

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4552505A (en) * 1982-11-19 1985-11-12 American Robot Corporation Industrial robot having direct coaxial motor drive
DE3313167A1 (en) * 1983-04-12 1984-10-25 Mantec Gesellschaft für Automatisierungs- und Handhabungssysteme mbH, 8510 Fürth INDUSTRIAL ROBOT WITH ELECTRIC THREE-PHASE INDIVIDUAL DRIVES
SE460529B (en) * 1986-02-18 1989-10-23 Asea Ab INDUSTRIAL ROBOT
US4668898A (en) * 1986-04-21 1987-05-26 General Electric Company Electronically commutated motor
DE3642724A1 (en) * 1986-12-13 1988-06-23 Grundfos Int ELECTRIC MOTOR WITH A FREQUENCY CONVERTER TO CONTROL THE MOTOR OPERATING SIZES
GB2225909B (en) * 1988-11-17 1993-11-24 Honda Motor Co Ltd DC resistance welding apparatus
US5006744A (en) * 1988-12-27 1991-04-09 General Electric Company Integrated electronically commutated motor and control circuit assembly
JPH03240106A (en) * 1990-02-16 1991-10-25 Mitsubishi Heavy Ind Ltd Teaching device for direct teaching type robot
JP2823674B2 (en) * 1990-10-01 1998-11-11 株式会社不二越 Industrial robot
JP2809026B2 (en) * 1992-09-30 1998-10-08 三菱電機株式会社 INVERTER DEVICE AND METHOD OF USING INVERTER DEVICE

Also Published As

Publication number Publication date
KR100417028B1 (en) 2004-04-13
JPH08229862A (en) 1996-09-10
JP2005329538A (en) 2005-12-02
ES2127580T3 (en) 1999-04-16
US6408710B1 (en) 2002-06-25
EP0728559A3 (en) 1996-09-18
SE515130C2 (en) 2001-06-11
EP0728559A2 (en) 1996-08-28
EP0728559B1 (en) 1998-10-21
DE69600806T2 (en) 1999-11-25
DE69600806D1 (en) 1998-11-26
KR960031076A (en) 1996-09-17
SE9500683D0 (en) 1995-02-24

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